Conveying Equipment

Abstract

In a transport facility having a flight path area where multiple unmanned flying vehicles fly, it is desirable to provide technology that can improve the efficiency of transporting goods while reducing the possibility of collisions between the flying vehicles. [Solution] A transportation facility comprising a plurality of unmanned flying aircraft 10, a plurality of transport target areas 3 that are at least one of the source and destination of the items W transported by the aircraft 10, and a flight path area E in which the aircraft 10 fly to transport the items W between different transport target areas 3, wherein the flight path area E includes a first area E1 in which the aircraft 10 fly horizontally, and a second area E2 set parallel to the first area E1 and in which the aircraft 10 fly heading in the opposite direction from the aircraft 10 flying in the first area E1, and the heights of the first area E1 and the second area E2 are set to be different from each other.

Description

[Technical Field]

[0001] The present invention relates to a conveying facility. [Background technology]

[0002] For example, Japanese Patent Laid-Open No. 2020-40798 (Patent Document 1) discloses a technology related to a conveyance facility. In the following description of the background art, the reference numerals in parentheses refer to those in Patent Document 1.

[0003] The transport facility of Patent Document 1 includes a storage shelf (3) for storing items (W), and an unmanned flying vehicle (1) that flies unmanned to transport the items to the storage shelf (3). A platform (32) is arranged on each of a plurality of levels of the storage shelf (3). A storage space (30) for storing the items is formed above the platform (32) on each level. In this transport facility, the platform (32) is configured to slide and move by a moving mechanism (33) so as to protrude forward relative to the storage space (30) (the side where items are loaded and unloaded). When the flying vehicle (1) approaches the storage space (30), the platform (32) protrudes forward relative to the storage space (30). This allows the flying vehicle (1) to deliver or receive items to or from the platform (32). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2020-40798 Summary of the Invention [Problem to be solved by the invention]

[0005] In a conveyance facility in which multiple flying objects are used to convey items, as in Patent Document 1, there is a risk that the flying objects may collide with each other during the conveyance of the items. Therefore, it is conceivable to reduce the possibility of collisions between the flying objects by reducing the number of flying objects flying simultaneously within the conveyance facility. However, there is a problem in that reducing the number of flying objects flying simultaneously makes it difficult to improve the efficiency of conveying items.

[0006] Therefore, it is desirable to provide technology that can improve the efficiency of transporting goods while reducing the possibility of collisions between unmanned flying objects in a transport facility that has a flight path area where multiple unmanned flying objects fly. [Means for solving the problem]

[0007] The transport equipment according to the present disclosure is a transport equipment including a plurality of unmanned flying vehicles having a holding unit that holds and releases an item, a plurality of transport target areas that are at least one of the source and destination of the items transported by the flying vehicles, and a flight path area along which the flying vehicles fly to transport the items between the different transport target areas, the flight path area includes a first area in which the aircraft flies so as to proceed horizontally, and a second area set parallel to the first area in which the aircraft flies in a direction opposite to the aircraft flying in the first area; The first area and the second area are set to have different heights.

[0008] According to this configuration, the first area and the second area where the flying object flying in the opposite direction from the flying object flying in the first area fly are at different heights, so even when multiple flying objects are used to transport items, the possibility of collisions between the flying objects can be reduced. Furthermore, since the number of actions required to avoid collisions by each of the multiple flying objects can be reduced, the efficiency of transporting items in the transport facility can be easily improved. In this way, with this configuration, it is possible to reduce the possibility of collisions between flying objects while improving the efficiency of transporting goods.

[0009] Further features and advantages of the transport installation will become apparent from the following description of exemplary, non-limiting embodiments, which are given with reference to the drawings. [Brief explanation of the drawings]

[0010] [Figure 1] Schematic diagram showing the flight path area [Figure 2] FIG. 10 is a schematic diagram illustrating a flight path area in another embodiment. [Figure 3] FIG. 10 is a schematic diagram illustrating a flight path area in another embodiment. [Figure 4] FIG. 10 is a schematic diagram illustrating a flight path area in another embodiment. [Figure 5] FIG. 10 is a schematic diagram illustrating a flight path area in another embodiment. [Figure 6] Control Block Diagram DETAILED DESCRIPTION OF THE INVENTION

[0011] [First embodiment] A transfer facility 100 according to a first embodiment will be described below with reference to the drawings. As shown in FIG. 1, the transfer facility 100 includes a plurality of unmanned flying vehicles 10, a plurality of transfer target portions 3, and a flight path area E along which the flying vehicles 10 fly. In this embodiment, the transfer facility 100 further includes a control system 110 that controls each of the plurality of flying vehicles 10. The control system 110 includes a host controller C provided inside the transfer facility 100 and a control unit H provided in each of the flying vehicles 10.

[0012] The flying object 10 transports an item W between different transport target areas 3. A flight path area E in which the flying object 10 flies is set inside the transport facility 100. In this example, the item W is a FOUP (Front Opening Unified Pod) that stores semiconductor wafers, but is not limited to this. The item W may also be a container other than a FOUP that stores semiconductor wafers. The item W may also be a carton container, a container container, or something other than a container.

[0013] Each of the multiple transport target sections 3 is configured to be at least one of the source and destination of the item W transported by the flying object 10. In this example, multiple processing devices 41 are provided inside the transport facility 100. The processing devices 41 are devices that perform processing on the contents (here, semiconductor wafers) contained in the item W. The transport target sections 3 are arranged to correspond to each processing device 41. In this example, the transport target sections 3 are load ports 31 that load and unload the item W to and from the processing devices 41. The item W is placed on the upper surface of the load port 31. The multiple flying objects 10 transport the item W between the multiple load ports 31. In the first embodiment, as shown in FIG. 1, a specific direction A is defined as a horizontal plane and a specific direction in which two transport target sections 3 are lined up. One side of the specific direction A is defined as a specific direction first side A1, and the opposite side is defined as a specific direction second side A2. In the illustrated example, the two processing devices 41 are arranged spaced apart in the specific direction A. Furthermore, the two transport target parts 3 (load ports 31) provided in each processing device 41 are arranged at the same vertical position. Here, the two transport target parts 3 may be arranged so that their vertical positions are different from each other. Note that the transport target parts 3 are not limited to the load ports 31 provided in the processing device 41. For example, at least one of the two transport target parts 3 may be a shelf board of a shelf on which the article W (FOUP) is stored, an entry / exit section of an automated warehouse, a transport surface of a transport device, or the like.

[0014] As shown in Figures 1 and 6, the aircraft 10 includes a flight section 12 that flies along a flight path area E. The flight section 12 includes multiple rotors, the control unit for controlling each element of the aircraft 10, and a drive unit for applying driving force to each element. The rotors generate lift and thrust by being driven to rotate around their rotational axes. The movement of the multiple rotors makes it easier to maintain the aircraft 10 in a horizontal position during flight. The flight section 12 may also include fixed wings and a propulsion device that generates thrust in the air.

[0015] Each of the multiple flying bodies 10 is equipped with a holding unit 2 that holds and releases the item W. This allows the flying body 10 to fly while holding the item W. In this example, the holding unit 2 holds the item W below the flying unit 12. The holding unit 2 is equipped with multiple gripping claws (not shown). The multiple gripping claws are configured to grip the item W (more specifically, the flange portion (not shown) of the FOUP). The multiple gripping claws can grip the item W placed on the transport target portion 3 and release the grip of the item W placed on the transport target portion 3. This allows the item W to be transferred between the holding unit 2 and the transport target portion 3. The configuration of the holding unit 2 can be changed as appropriate depending on the type and size of the item W. For example, the holding unit 2 may be configured to include a mechanism that scoops up and holds the item W from below. The holding unit 2 may also be provided with a transfer device (conveyor type, fork type, etc.) that supports the article W and transfers the article W to the transport target portion 3.

[0016] Each of the multiple flying bodies 10 is equipped with a collision prevention sensor 13. The collision prevention sensor 13 is configured to detect other flying bodies 10 with which there is a possibility of collision. In this embodiment, the collision prevention sensor 13 is also configured to detect other obstacles with which there is a possibility of collision with the flying body 10. As the collision prevention sensor 13, various sensors such as millimeter wave radar, LiDAR (Light Detection and Ranging), ultrasonic sensors, cameras, etc. can be used.

[0017] In the illustrated example, the aircraft 10 transports an item W between two transport target areas 3 arranged apart in a specific direction A. The aircraft 10 receives the item W placed on one of the two load ports 31 (transport target areas 3) (specific direction second side A2). The aircraft 10 also delivers the held item W to the other of the two load ports 31 (specific direction first side A1). When the aircraft 10 receives the item W from the transport target area 3, the aircraft 10 descends from above the transport target area 3 and approaches the item W placed on the top surface of the transport target area 3. The aircraft 10 then holds the item W using the holding unit 2. When the aircraft 10 delivers the item W to the transport target area 3, the aircraft 10 descends from above the transport target area 3 and lands the item W held by the holding unit 2 on the transport target area 3. The flying object 10 then releases the holding unit 2 from holding the item W. When transferring the item W to the transport target portion 3, the flying object 10 may land on the transport target portion 3, or may transfer the item W while hovering.

[0018] As shown in FIG. 1, the flight path area E is configured to include a first area E1 in which the aircraft 10 flies horizontally, and a second area E2 that is set parallel to the first area E1 and in which the aircraft 10 flies in the opposite direction from the aircraft 10 flying through the first area E1. In this embodiment, the flight path area E is set above the multiple transport target portions 3. In this example, the flight path area E is set along a specific direction A. The aircraft 10 flies through each of the first area E1 and the second area E2 along the specific direction A. Note that "parallel" is not limited to the first area E1 and the second area E2 being completely parallel to each other, but also includes the first area E1 and the second area E2 being approximately parallel to each other.

[0019] As shown in FIG. 1, the heights of the first area E1 and the second area E2 are set to be different from each other. In this embodiment, the first area E1 and the second area E2 are set to be adjacent to each other in the vertical direction, and therefore their vertical positions are different from each other. Here, the first area E1 is an area in which flying bodies 10 that are not holding an item W in the holding unit 2 fly, and the second area E2 is an area in which flying bodies 10 that are holding an item W in the holding unit 2 fly. The second area E2 is set below the first area E1. In this example, in each of the first area E1 and the second area E2, multiple flying bodies 10 can fly in at least one line along the specific direction A. Meanwhile, in each area (each of the first area E1 and the second area E2), the vertical dimensions of each area are set so that multiple flying bodies 10 cannot fly separately in the vertical direction. In addition, in this example, no area in which flying bodies 10 fly is set below the second area E2. This prevents another aircraft 10 from flying below the aircraft 10 holding the item W, thereby avoiding interference between the item W held by the aircraft 10 and another aircraft 10 flying below the aircraft 10. In this example, the aircraft 10 receives the item W from the transport target portion 3 on the specific direction second side A2 of two transport target portions 3 arranged separately in the specific direction A, and flies from the specific direction second side A2 to the specific direction first side A1 to the second area E2 below the first area E1. Then, the aircraft 10 delivers the item W to the transport target portion 3 on the specific direction first side A1, and flies from the specific direction first side A1 to the specific direction second side A2 through the first area E1. The aircraft 10 then receives another item W from the transport target portion 3 on the specific direction second side A2. The first area E1 and the second area E2 may each be set so that multiple flying bodies 10 can fly side by side in a horizontal direction (a direction perpendicular to the specific direction A when viewed from above and below). In this way, the setting of the flight path area E can be changed as appropriate.

[0020] In this embodiment, as shown in FIG. 1 , the detection range P of the collision prevention sensor 13 is set so that when an aircraft 10 equipped with the collision prevention sensor 13 is flying in the first area E1, it detects another aircraft 10 flying in the first area E1, but does not detect another aircraft 10 flying in the second area E2. Furthermore, when an aircraft 10 equipped with the collision prevention sensor 13 is flying in the second area E2, it detects another aircraft 10 flying in the second area E2, but does not detect another aircraft 10 flying in the first area E1. In this example, the detection range P of the collision prevention sensor 13 is configured to detect obstacles ahead of the aircraft 10 in the direction of travel within the area in which the aircraft 10 equipped with the collision prevention sensor 13 is located. Naturally, the detection range P of the collision prevention sensor 13 can be changed as needed. For example, the detection range P of the collision prevention sensor 13 can be set not only ahead of the aircraft 10 in the direction of travel, but also behind the aircraft 10 in the direction of travel. When the aircraft 10 detects an obstacle ahead in the direction of travel (for example, another aircraft 10 ahead in the direction of travel), it can reduce its flight speed or hover. Furthermore, when the aircraft 10 detects an obstacle ahead in the direction of travel, it can also fly in a way that avoids the obstacle. In this example, each aircraft 10 is equipped with the control unit H as described above, and therefore is capable of such autonomous flight.

[0021] In this embodiment, each of the host controller C and the control unit H includes, for example, a processor such as a microcomputer, peripheral circuits such as a memory, etc. Each function is realized by cooperation between this hardware and a program executed on a processor such as a computer. The host controller C and the control unit H provided in each of the multiple aircraft 10 are configured to be able to communicate with each other. The host controller C includes a memory unit 17, a route setting unit 18, and an area setting unit 19. The area setting unit 19 sets a flight path area E. The area setting unit 19 is configured to be able to set multiple areas including the first area E1 and the second area E2 described above. The route setting unit 18 sets the flight origin (the transport target area 3 from which the item W is transported) and the flight destination (the transport target area 3 to which the item W is transported) for each of the multiple aircraft 10. Then, the route setting unit 18 sets one or more areas (areas included in the flight path area E) in which the aircraft 10 will fly based on the set flight origin and flight destination. The memory unit 17 stores the flight path area E of the transport facility 100, etc. FIG. 1 illustrates an example of a configuration in which two transport target portions 3 are arranged in a specific direction A in the transport facility 100, but of course, this is not limited to this. The transport facility 100 may also be configured to include three or more transport target portions 3, and the flying object 10 of FIG. 1 may fly further toward a transport target portion 3 not shown in the figure. Furthermore, the transport target portion 3 may be, in addition to the load port 31 described above, a charging station for charging the flying object 10, a waiting area for waiting the flying object 10, a conveyor conveyance surface, a support surface of a support platform, a loading surface of an automated guided vehicle, etc. Furthermore, the transport target portion 3 may be a holding device or the like that holds the object W from a position other than the bottom. For example, the transport target portion 3 may be a holding device that holds the flange portion of the object W (FOUP) in an overhead guided vehicle that supports the object W by suspending it.

[0022] Second Embodiment A second embodiment of the conveying equipment 100 will be described with reference to Fig. 2. The following description of the conveying equipment 100 of this embodiment will focus on the differences from the first embodiment. Points that are not specifically mentioned are the same as those of the first embodiment, and the same reference numerals will be used to omit detailed description thereof.

[0023] As shown in FIG. 2, the multiple transport target sections 3 are arranged at different positions in the vertical direction. The first area E1 and the second area E2 are set at heights corresponding to the transport target sections 3 at different positions in the vertical direction. In this example, the multiple transport target sections 3 are spaced apart in the specific direction A and arranged separately in the vertical direction. The conveying equipment 100 also includes an in-and-out section 32, an in-carry section 33, and an out-carry section 34 as the transport target sections 3. Here, the side of the in-carry section 32 on which the in-carry section 33 and the out-carry section 34 are arranged is referred to as the specific direction second side A2, and the opposite side is referred to as the specific direction first side A1. The in-carry section 33 transports an item W from the outside to the inside of the conveying equipment 100. The out-carry section 34 transports an item W from the inside to the outside of the conveying equipment 100. Here, the in-carry section 33 and the out-carry section 34 are conveyors for transport. In the illustrated example, the unloading section 34 is disposed above the loading section 33. The loading / unloading section 32, the loading section 33 and the unloading section 34 are disposed so as to be spaced apart in the specific direction A.

[0024] In this example, the conveying equipment 100 includes an automated warehouse 42. The automated warehouse 42 can store multiple items W on each of multiple levels. The loading / unloading section 32 loads and unloads the items W into and out of the automated warehouse 42. A plurality of loading / unloading sections 32 are provided to correspond to the respective levels. The multiple loading / unloading sections 32 are arranged in a vertical line. The loading / unloading sections 32 are conveyors for transport. The aircraft 10 receives the item W from the loading section 33 and transports it to any of the loading / unloading sections 32. After handing over the item W to the loading / unloading section 32, the aircraft 10 flies toward the loading section 33. Furthermore, after receiving the item W from any of the loading / unloading sections 32, the aircraft 10 flies toward the unloading section 34. The aircraft 10 then delivers the transported item W to the unloading section 34. In the example shown in the figure, the item W is a carton container, a container container, or the like. Here, the holding unit 2 is configured to hold the article W from above, but is not limited to this and may be configured to support the article W from below. Also, the holding unit 2 may be configured to support the article W by suspending it from above.

[0025] The flight path area E is set between the loading / unloading section 32 and the specific direction A between the loading / unloading section 33 and the unloading section 34. In this example, the second area E2 is arranged to correspond to one of the multiple loading / unloading sections 32. Furthermore, the first area E1 is arranged to correspond to the loading / unloading section 32 above (here, one above) the loading / unloading section 32 of the second area E2 (the loading / unloading section 32 corresponding to the second area E2). The aircraft 10 that receives the item at the loading / unloading section 33 flies through the second area E2 from the specific direction second side A2 to the specific direction first side A1. Then, the aircraft 10 delivers the item W to the loading / unloading section 32 of the second area E2. After delivering the item W, the empty aircraft 10 (hereinafter simply referred to as "empty aircraft 10") rises and flies through the first area E1 from the specific direction first side A1 to the specific direction second side A2. The empty aircraft 10 then descends to receive a new item W from the loading section 33. Furthermore, the aircraft 10 that has delivered the item W to the storage / retrieval section 32 in the second area E2 may receive another item W from another storage / retrieval section 32 and fly toward the unloading section 34. In the example of FIG. 2, the aircraft 10 that has delivered the item W to the storage / retrieval section 32 in the second area E2 may receive another item W placed in the storage / retrieval section 32 one level above it and fly through the first area E1. The aircraft 10 may then deliver the item W to the unloading section 34. The aircraft 10 that has delivered the item W to the unloading section 34 may receive a new item W from the storage / retrieval section 33 and fly, or may fly toward a waiting area (not shown) for the aircraft 10, etc. In this way, the control system 110 (here, the upper controller C) may set the aircraft 10 holding the item W to fly through the first area E1, as necessary. In this case, it is preferable to set the system so that no other aircraft 10 flies in the second area E2 while the aircraft 10 holding the item W is flying in the first area E1. This makes it possible to avoid a collision between the aircraft 10 flying in the second area E2 and the item W, even if the aircraft 10 flying in the first area E1 drops the item W.

[0026] In this example, the flight path area E further includes a third area E3 and a fourth area E4. The third area E3 and the fourth area E4 are set above the first area E1. The fourth area E4 is set to correspond to the loading / unloading section 32 one level above the loading / unloading section 32 of the first area E1. The third area E3 is set to correspond to the loading / unloading section 32 one level above the loading / unloading section 32 of the fourth area E4. After receiving an item from the loading section 33, the aircraft 10 flies through the fourth area E4 from the specific direction second side A2 to the specific direction first side A1 and delivers the item W to the loading / unloading section 32 of the fourth area E4. Thereafter, the empty aircraft 10 flies through the third area E3 from the specific direction first side A1 to the specific direction second side A2 and receives a new item W from the loading section 33. Furthermore, the aircraft 10 that flies through the fourth area E4 and delivers an item W to the loading / unloading section 32 of the fourth area E4 may receive another item W from another loading / unloading section 32 (for example, the loading / unloading section 32 of the third area E3) and fly toward the unloading section 34. Naturally, the aircraft 10 may, for example, deliver an item W to the loading / unloading section 32 of the second area E2, then receive another item W from the loading / unloading section 32 of the fourth area E4 and fly toward the unloading section 34.

[0027] Third Embodiment A third embodiment of the conveying equipment 100 will be described with reference to Figures 3 and 4. The following describes the conveying equipment 100 of this embodiment, focusing on differences from the first embodiment. Points that are not specifically mentioned are the same as those of the first embodiment, and the same reference numerals are used, and detailed descriptions thereof will be omitted.

[0028] 3 and 4, the conveying equipment 100 is equipped with a storage shelf 5 having multiple shelf sections 51 that store items W on each level. In this embodiment, the surface of the storage shelf 5 from which items W are placed and removed is referred to as the shelf front surface 50. The direction along the depth of the storage shelf 5 is referred to as the depth direction X, the side in the depth direction X from the inside of the storage shelf 5 toward the shelf front surface 50 is referred to as the depth direction first side X1, the opposite side is referred to as the depth direction second side X2, and the direction perpendicular to the up-down direction as viewed in the depth direction along the depth direction X is referred to as the width direction Y. One side of the width direction Y is referred to as the width direction first side Y1, and the opposite side is referred to as the width direction second side Y2.

[0029] As shown in FIGS. 3 and 4 , a plurality of item placement sections 8, in which items W are placed, are set along the width direction Y on each of the multi-tiered shelf sections 51. This allows a plurality of items W to be arranged side by side in the width direction Y on one shelf section 51. In this example, each of the multi-tiered shelf sections 51 is supported by a plurality of support columns. The multi-tiered shelf sections 51 are arranged to be spaced apart from each other in the vertical direction. The multiple item placement sections 8 set along the width direction Y are set in spaces formed between adjacent shelf sections 51. Each of the multiple item placement sections 8 is a transport target section 3. In this example, the vertical dimension of the item placement section 8 is set to a size that allows the flying object 10 holding the item W to enter ( FIG. 4 ). The flying object 10 then delivers the item W to the item placement section 8. In the example of FIG. 4 , two item placement sections 8 are arranged side by side in the depth direction X on each shelf section 51. In the example shown, one item placement section 8 is capable of placing one item W.

[0030] As shown in FIG. 4, the flight path area E is arranged adjacent to the shelf front surface 50 on the first side X1 in the depth direction. The flight path area E includes a plurality of areas including a first area E1 and a second area E2. The plurality of areas are set to extend in the width direction Y along the shelf portion 51 of the corresponding stage. In other words, the plurality of areas (six areas, the first area E1 to the sixth area E6 in the example of FIG. 3) are arranged along the width direction Y and adjacent to each other in the vertical direction along the shelf portion 51 of the corresponding stage. In the example of FIG. 4, a shelf front surface 50 is set on each side of the storage shelf 5 in the depth direction X. Then, one flight path area E is set on the first side X1 in the depth direction (outside the storage shelf 5) of each shelf front surface 50. In this way, by setting two flight path areas E for one storage shelf 5, the efficiency of transporting the item W by the flying object 10 can be improved.

[0031] As shown in FIG. 3, the conveyance facility 100 further includes an inlet section 33 and an outlet section 34 as the conveyance target section 3. The inlet section 33 carries in an item W from the outside of the conveyance facility 100 to the inside. The outlet section 34 carries out an item W from the inside of the conveyance facility 100 to the outside. In this example, the inlet section 33 and the outlet section 34 are arranged on the first widthwise side Y1 relative to the storage shelf 5 and the flight path area E. The outlet section 34 is also arranged above the inlet section 33. When the aircraft 10 receives the item W from the inlet section 33, it flies through the flight path area E and delivers the item W to the item placement section 8, which is the destination of the item. When the aircraft 10 receives the item W from the item placement section 8, it flies through the flight path area E and delivers the item W to the outlet section 34.

[0032] In the example of FIG. 3, multiple different areas (fourth area E4 and sixth area E6) are arranged between the second area E2 and the first area E1. The second area E2 is arranged along the lowest shelf 51. The second area E2, fourth area E4, and sixth area E6 are arranged in the order listed from bottom to top. In addition, in these areas, the flying object 10 is set to fly from the first widthwise side Y1 to the second widthwise side Y2. The first area E1 is arranged one area above the sixth area E6.

[0033] In the example of FIG. 3, the first area E1, the third area E3, and the fifth area E5 are arranged in the order listed from bottom to top. The fifth area E5 corresponds to the top shelf 51. In the illustrated example, the seventh area E7 is set above the top shelf 51. In these areas, the flying object 10 is set to fly from the second widthwise side Y2 to the first widthwise side Y1. In the illustrated example, the end of the flight path area E on the first widthwise side Y1 is located closer to the loading section 33 and the unloading section 34 (first widthwise side Y1) than the storage shelf 5 (front shelf 50). The flight path areas E are set as areas in which the flying object 10 flies at least along the widthwise direction Y in each area.

[0034] In the example shown in FIG. 3, the destination item placement section 8a to which the item W is to be transferred is set to the shelf section 51 corresponding to the sixth area E6. After the aircraft 10 holds the item W in the receiving section 33, it flies toward the set destination item placement section 8a. The aircraft 10 flies through the area (sixth area E6) corresponding to the destination item placement section 8a and arrives at the destination item placement section 8a. After the aircraft 10 hands over the item W to the destination item placement section 8a, it flies toward the receiving section 33. When flying toward the receiving section 33, the aircraft 10 flies through any one of the first area E1, third area E3, fifth area E5, and seventh area E7. For example, the aircraft 10 may select the seventh area E7 to fly in cases where there are aircraft 10 hovering in the first area E1, the third area E3, and the fifth area E5 corresponding to multiple shelf sections 51, or where there are more than a specified number of aircraft 10 flying, or where there is an aircraft 10 transferring an item W to or from the item placement section 8. The aircraft 10 may also select the least congested area among the first area E1, the third area E3, the fifth area E5, and the seventh area E7 to fly in.

[0035] Furthermore, after transporting an item W to the destination item placement section 8a, the aircraft 10 can also fly toward the source item placement section 8b, which is the recipient of the item W. In the example of FIG. 3, the source item placement section 8b is set in the shelf section 51 corresponding to the third area E3. After flying through the sixth area E6 and handing over the item to the destination item placement section 8a, the aircraft 10 rises and enters the third area E3. The aircraft 10 then flies through the third area E3 and receives another item W from the source item placement section 8b. After receiving the item W, the aircraft 10 continues flying through the third area E3 and heads toward the discharge section 34. The aircraft 10 then delivers the item W to the discharge section 34.

[0036] 3 and 4, unlike the first and second embodiments, the holding unit 2 of the flying object 10 is configured to grip the side of the item W. In this way, the configuration in which the holding unit 2 holds the item W can be changed as appropriate. Furthermore, if the holding unit 2 is equipped with a transfer device (fork type, conveyor type, etc.) that supports the item W from below, the flying object 10 transfers (hands over) the item W to the item placement unit 8 using the transfer device while hovering in an area in front of the item placement unit 8. Therefore, since the flying unit 12 and holding unit 2 of the flying object 10 do not need to enter the item placement unit 8, the vertical dimensions of each item placement unit 8 can be kept small. Therefore, the storage efficiency of the items W on the storage shelf 5 can be improved while maintaining the transport efficiency of the items W.

[0037] [Fourth embodiment] A fourth embodiment of the conveying equipment 100 will be described with reference to Fig. 5. The following description of the conveying equipment 100 of this embodiment will focus on the differences from the first embodiment. Points that are not specifically mentioned are the same as those of the first embodiment, and the same reference numerals will be used to omit detailed description.

[0038] As shown in FIG. 5, the transport facility 100 has two floors. Here, the two floors are arranged vertically. The lower of the two floors is referred to as the first floor 1F, and the floor arranged above the first floor 1F is referred to as the second floor 2F. The transport facility 100 also has an inter-floor connector 9 connecting the first floor 1F and the second floor 2F. The inter-floor connector 9 is a space in which a connecting path extending vertically is formed. Multiple flying objects 10 fly through the inter-floor connector 9 to travel between the first floor 1F and the second floor 2F. In this example, the flight path area E is set within the inter-floor connector 9, spanning the first floor 1F and the second floor 2F. Hereinafter, with respect to the first area E1 and the second area E2 in the horizontal direction, the side on which the transport target object 3 connected to the first area E1 and the second area E2 is located is referred to as a specific direction first side A1, and the opposite side is referred to as a specific direction second side A2.

[0039] The flight path area E includes a third area E3, which is set above the first area E1 and the second area E2 and through which the aircraft 10 flies horizontally. The flight path area E also includes a fourth area E4, which is set above the first area E1 and the second area E2 and parallel to the third area E3, through which the aircraft 10 flies in the opposite direction from the aircraft 10 flying in the third area E3. The flight path area E also includes a fifth area E5, which is set to connect the first area E1 and the third area E3 and through which the aircraft 10 ascends or descends, and a sixth area E6, which is set to connect the second area E2 and the fourth area E4 and through which the aircraft 10 flies in the opposite direction from the aircraft 10 flying in the fifth area E5. In the illustrated example, the first area E1 and the second area E2 are located in the area of ​​the first floor 1F at the inter-floor connector 9. On the other hand, the third area E3 and the fourth area E4 are located in the area of ​​the second floor 2F at the floor connection part 9. The fifth area E5 and the sixth area E6 are set to extend in the vertical direction, and are set at the floor connection part 9 across the first floor 1F and the second floor 2F.

[0040] The transport facility 100 includes a plurality of transport target sections 3. The transport target sections 3 are located on the first floor 1F and the second floor 2F, respectively. The transport target sections 3 located on the first floor 1F correspond to the first area E1 and the second area E2. The transport target sections 3 located on the second floor 2F correspond to the third area E3 and the fourth area E4. In the illustrated example, the transport target sections 3 are load ports 31 provided in the processing equipment 41. The items W are FOUPs. In this embodiment, the side on which the transport target sections 3 connected to the third area E3 and the fourth area E4 are located is also the specific direction first side A1 relative to the third area E3 and the fourth area E4. Note that "connected" here includes cases where the transport target sections 3 and the corresponding areas are directly connected or connected via a space. The second area E2 is set below the first area E1, the third area E3 is set below the fourth area E4, and the fifth area E5 is set on the first side A1 in the specific direction relative to the sixth area E6.

[0041] In the illustrated example, the end of the second area E2 on the second side A2 in the specific direction and the end of the fourth area E4 on the second side A2 in the specific direction are connected by the sixth area E6. The end of the first area E1 on the second side A2 in the specific direction and the end of the third area E3 on the second side A2 in the specific direction are connected by the fifth area E5. The flight area of ​​the aircraft 10 formed by the first area E1, the fifth area E5, and the third area E3 is arranged so as to be surrounded by the flight area formed by the second area E2, the sixth area E6, and the fourth area E4. Specifically, the flight area of ​​the aircraft 10 formed by the first area E1, the fifth area E5, and the third area E3 is arranged above the second area E2, below the fourth area E4, and on the first side A1 in the specific direction relative to the sixth area E6.

[0042] After receiving the item W from the transport target area 3 (load port 31) on the first floor 1F, the aircraft 10 flies through the second area E2 from the specific direction first side A1 to the specific direction second side A2. Then, the aircraft 10 flies (ascends) through the sixth area E6, and then flies through the fourth area E4 from the specific direction second side A2 to the specific direction first side A1. After that, the aircraft 10 delivers the item W to the transport target area 3 (load port 31) on the second floor 2F. After delivering the item W to the transport target area 3, the aircraft 10 flies through the third area E3 from the specific direction first side A1 to the specific direction second side A2. Then, after flying (descending) through the fifth area E5, the aircraft 10 flies through the first area E1 from the specific direction second side A2 to the specific direction first side A1. After that, the aircraft 10 receives another item W from the transport target area 3 on the first floor 1F. Furthermore, after flying through the first area E1, the flying object 10 may land at the charging station 35, which is the transport target portion 3. The number and arrangement of areas through which the flying object 10 flies may be changed as appropriate depending on the scale of the transport facility 100 and the size of the inter-floor connector 9.

[0043] Other Embodiments (1) In the first to fourth embodiments described above, the aircraft 10 has been described as flying in a direction along a horizontal plane (specific direction A, width direction Y) through each of the first area E1 and the second area E2, but this is not limiting. The aircraft 10 may fly in a direction inclined with respect to the horizontal plane through each of the first area E1 and the second area E2. For example, the aircraft 10 may fly so that its vertical position increases toward one side of the specific direction A or width direction Y. In this case, the first area E1 and the second area E2 may each be set to be inclined with respect to the horizontal plane. In this case, it is preferable that the first area E1 be positioned higher than the second area E2 at the same position in the specific direction A or width direction Y.

[0044] (2) In the first embodiment described above, the detection range P of the collision prevention sensor 13 is set so that, when the aircraft 10 equipped with the collision prevention sensor 13 is flying in the first area E1, it detects another aircraft 10 flying in the first area E1, but does not detect another aircraft 10 flying in the second area E2. However, this is not limiting. The detection range P of the collision prevention sensor 13 may be set so that, even when the aircraft 10 equipped with the collision prevention sensor 13 is flying in the first area E1, it detects another aircraft 10 flying in the second area E2. Furthermore, when another area is set above the first area E1, the detection range P of the collision prevention sensor 13 may be set so that it detects another aircraft 10 flying in that other area.

[0045] (3) In the first embodiment, the first area E1 and the second area E2 are vertically adjacent to each other. However, this is not limiting. The first area E1 and the second area E2 may be configured to be spaced apart vertically. The control system 110 may then designate the area between the first area E1 and the second area E2 as an area in which flight of the aircraft 10 is prohibited.

[0046] (4) In the second embodiment, the first area E1 and the second area E2 are set at heights corresponding to the transfer target parts 3 that are located at different positions in the vertical direction. However, this is not limiting. The first area E1 and the second area E2 may be set at heights corresponding to the transfer target parts 3 that are located at different positions in the horizontal direction. In this way, it is preferable that the positions of the first area E1 and the second area E2 relative to the transfer target parts 3 can be changed as needed.

[0047] (5) In the third embodiment described above, the conveying equipment 100 includes a storage shelf 5 with multiple shelf sections 51 that store items W on each shelf, and multiple item placement sections 8 in which items W are placed are set along the width direction Y on each of the multiple shelf sections 51, and each of the multiple item placement sections 8 is a target area 3 for conveyance. However, the present invention is not limited to this. The conveying equipment 100 may include, for example, a conveying device (such as a stacker crane or a rail-guided vehicle) that puts and takes items W into and out of each item placement section 8, and the target area 3 for conveyance may be set on the conveying surface of the conveying device. Furthermore, the conveying equipment 100 may include a sorting device with multiple chutes instead of the storage shelves 5, and each flying vehicle 10 may be configured to feed items W into the multiple chutes. In this case, the target area 3 for conveyance is a chute.

[0048] (6) In the above fourth embodiment, the transport facility 100 has two floors (first floor 1F and second floor 2F) and an inter-floor connector 9 connecting the two floors, and the flight path area E is set inside the inter-floor connector 9. However, the configuration is not limited to this. The transport facility 100 can also have three or more floors adjacent to each other in the vertical direction, and the flight path area E can be set inside the inter-floor connector 9 connecting these three or more floors to each other.

[0049] (7) The configurations disclosed in the above-described embodiments can be applied in combination with configurations disclosed in other embodiments, as long as no contradictions arise. Regarding other configurations, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications can be made as appropriate within the scope of the present disclosure.

[0050] Summary of the above embodiment The above-described transport equipment will be summarized below.

[0051] The transport equipment according to the present disclosure is a transport equipment including a plurality of unmanned flying vehicles having a holding unit that holds and releases an item, a plurality of transport target areas that are at least one of the source and destination of the items transported by the flying vehicles, and a flight path area along which the flying vehicles fly to transport the items between the different transport target areas, the flight path area includes a first area in which the aircraft flies so as to proceed horizontally, and a second area set parallel to the first area in which the aircraft flies in a direction opposite to the aircraft flying in the first area; The first area and the second area are set to have different heights.

[0052] According to this configuration, the first area and the second area where the flying object flying in the opposite direction from the flying object flying in the first area fly are at different heights, so even when multiple flying objects are used to transport items, the possibility of collisions between the flying objects can be reduced. Furthermore, since the number of actions required to avoid collisions by each of the multiple flying objects can be reduced, the efficiency of transporting items in the transport facility can be easily improved. In this way, with this configuration, it is possible to reduce the possibility of collisions between flying objects while improving the efficiency of transporting goods.

[0053] Here, the first area is an area in which the flying object flies without holding the item by the holding unit, The second area is preferably an area in which the flying object holding the item by the holding part flies.

[0054] According to this configuration, the flight paths of flying bodies holding items and flying bodies not holding items can be set to different areas, making it easier to improve the efficiency of transporting items.

[0055] Preferably, the second area is set below the first area.

[0056] According to this configuration, the second area in which the aircraft carrying an item flies is set lower than the first area in which the aircraft not carrying an item flies, so that even if an item falls from the aircraft, the collision between the fallen item and the aircraft can be reduced.

[0057] The plurality of transport target parts are arranged at different positions in the vertical direction, It is preferable that the first area and the second area are set at heights corresponding to the transport target parts which are positioned differently in the up-down direction.

[0058] According to this configuration, the first area and the second area are set at heights corresponding to the different heights of the target areas. This reduces the possibility of multiple flying objects transporting items to multiple target areas located at different heights colliding with each other during flight, and reduces the amount of action required for each flying object to avoid a collision. This makes it easier to improve the efficiency of transporting items.

[0059] Further, each of the plurality of flying bodies is provided with a collision prevention sensor that detects other flying bodies with which there is a possibility of collision; The detection range of the collision prevention sensor is When the aircraft equipped with the collision prevention sensor is flying in the first area, the collision prevention sensor is set to detect another aircraft flying in the first area, but not to detect another aircraft flying in the second area, When the aircraft equipped with the collision prevention sensor is flying in the second area, it is preferable that the sensor be configured to detect another aircraft flying in the second area, but not to detect another aircraft flying in the first area.

[0060] This configuration prevents the false detection of flying objects flying in other areas at different heights, thereby reducing the possibility that each flying object will perform unnecessary avoidance maneuvers due to false detection.

[0061] The storage shelf further includes a plurality of shelf sections each having a shelf section for storing the article thereon, The surface of the storage shelf through which the items are put in and taken out is defined as the shelf front surface, the direction along the depth of the storage shelf is defined as the depth direction, the side in the depth direction from the inside of the storage shelf toward the shelf front surface is defined as the depth direction first side, and the direction perpendicular to the up-down direction when viewed in the depth direction along the depth direction is defined as the width direction, A plurality of article placement sections in which the articles are placed are set along the width direction on each of the plurality of shelf sections, each of the plurality of article placement sections is the transport target section, The flight path area is arranged adjacent to the shelf front surface on the first side in the depth direction, and includes a plurality of areas in which the flying object flies, including the first area and the second area, Preferably, the plurality of areas are set to extend in the width direction along the shelf portions of the corresponding stages.

[0062] According to this configuration, the flying object can fly along each of the multiple shelf sections. Therefore, it is possible to transport items along each of the multiple shelf sections, and to properly transfer items between the transport target section (item placement section). In addition, it is possible to reduce the possibility of collisions between flying objects flying along shelf sections of different levels. Therefore, it is possible to more effectively improve the efficiency of transporting items.

[0063] Also, the flight path area: a third area set above the first area and the second area, in which the flying object flies horizontally; a fourth area set above the first area and the second area and parallel to the third area, in which the flying object flies in the opposite direction to the flying object flying in the third area; a fifth area that is set to connect the first area and the third area and in which the flying object ascends or descends; a sixth area in which the aircraft flies, the sixth area being set to connect the second area and the fourth area, and the aircraft flies in a direction opposite to the direction in which the aircraft flies in the fifth area; in a horizontal direction, with respect to the first area and the second area, a side on which the transport target parts connected to the first area and the second area are located is defined as a first side in a specific direction, and with respect to the third area and the fourth area, a side on which the transport target parts connected to the third area and the fourth area are located is also defined as the first side in the specific direction; The second area is set below the first area, the third area is set below the fourth area, It is preferable that the fifth area is set on the first side in the specific direction with respect to the sixth area.

[0064] According to this configuration, the first area and the third area above the first area are connected by the fifth area, and the second area and the fourth area above the second area are connected by the sixth area. The flight path formed by the first area, the third area, and the fifth area and the flight path formed by the second area, the fourth area, and the sixth area are set so as not to intersect with each other. This effectively reduces the possibility of collisions between flying objects heading toward different transport targets, and minimizes the need for each flying object to avoid collisions, thereby effectively improving the efficiency of transporting items.

[0065] The conveying equipment according to the present disclosure may have at least one of the above-described effects. [Explanation of symbols]

[0066] 2: Holding part 3: Transport target area 5: Storage shelf 8: Goods arrangement section 10: Flying object 13: Collision prevention sensor 50: Shelf front 51:Shelf 100:Transportation equipment A:Specific direction A1:Specific direction 1st side E: Flight path area E1: Area 1 E2: Area 2 E3: Third Area E4: Area 4 E5: Area 5 E6: Area 6 P: Detection range X: Depth direction X1: First side in the depth direction

Claims

1. A transport facility comprising: a plurality of unmanned flying vehicles each having a holding unit that holds and releases an item; a plurality of transport target areas that are at least one of the source and destination of the items transported by the flying vehicle; and a flight path area along which the flying vehicle flies to transport the items between the different transport target areas, the flight path area includes a first area in which the aircraft flies so as to proceed horizontally, and a second area set parallel to the first area and in which the aircraft flies in a direction opposite to the aircraft flying in the first area; The conveying facility, wherein the first area and the second area are set to have different heights.

2. the first area is an area in which the flying object flies without holding the item by the holding unit, The conveyance facility according to claim 1 , wherein the second area is an area in which the flying object holding the item by the holding unit flies.

3. The conveying facility according to claim 2 , wherein the second area is set below the first area.

4. The plurality of transport target parts are arranged at different positions in the vertical direction, The conveying facility according to claim 1 , wherein the first area and the second area are set at heights corresponding to the conveying target parts that are positioned differently in the up-down direction.

5. each of the plurality of flying objects includes a collision prevention sensor that detects other flying objects with which there is a possibility of collision; The detection range of the collision prevention sensor is When the aircraft equipped with the collision prevention sensor is flying in the first area, the collision prevention sensor is set to detect another aircraft flying in the first area, but not to detect another aircraft flying in the second area, A conveying facility as described in any one of claims 1 to 3, wherein when the aircraft equipped with the collision prevention sensor is flying in the second area, the sensor is configured to detect another aircraft flying in the second area, but not to detect another aircraft flying in the first area.

6. Further provided is a storage shelf having a plurality of shelf sections for storing the items on each shelf, The surface of the storage shelf through which the items are put in and taken out is defined as the shelf front surface, the direction along the depth of the storage shelf is defined as the depth direction, the side in the depth direction from the inside of the storage shelf toward the shelf front surface is defined as the depth direction first side, and the direction perpendicular to the up-down direction when viewed in the depth direction along the depth direction is defined as the width direction, A plurality of article placement sections in which the articles are placed are set along the width direction on each of the plurality of shelf sections, each of the plurality of article placement sections is the transport target section, The flight path area is arranged adjacent to the shelf front surface on a first side in the depth direction, and includes a plurality of areas in which the flying object flies, including the first area and the second area; The conveying facility according to claim 1 , wherein the plurality of areas are set to extend in the width direction along the shelf portions of the corresponding stages.

7. The flight path area includes: a third area set above the first area and the second area, in which the flying object flies horizontally; a fourth area set above the first area and the second area and parallel to the third area, in which the flying object flies in a direction opposite to the flying object flying in the third area; a fifth area that is set to connect the first area and the third area and in which the flying object ascends or descends; a sixth area in which the aircraft flies, the sixth area being set to connect the second area and the fourth area, and the aircraft flies in a direction opposite to the direction in which the aircraft flies in the fifth area; in a horizontal direction, with respect to the first area and the second area, a side on which the transport target parts connected to the first area and the second area are located is defined as a first side in a specific direction, and with respect to the third area and the fourth area, a side on which the transport target parts connected to the third area and the fourth area are located is also defined as the first side in the specific direction; The second area is set below the first area, the third area is set below the fourth area, The conveying facility according to claim 1 , wherein the fifth area is set on a first side in the specific direction with respect to the sixth area.

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